Method for Providing an Application to Plants

ABSTRACT

Therefore, the illustrative embodiments provide a computer implemented method and system for providing an application of a resource to plants. A plurality of per plant prescriptions for a plurality of plants are received and a source is selected to fulfill the plurality of per plant prescriptions to form a selected source. Movement of a mobile utility vehicle is controlled to the selected source, the resource is obtained, and movement of the mobile utility vehicle is controlled to each plant in the plurality of plants. The resource is applied from the mobile utility vehicle to each plant according to the per plant prescription.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is related to commonly assigned and co-pending U.S.patent application Ser. No. ______ (Attorney Docket No. 18641-US)entitled “System and Method for Managing Resource Use”; U.S. patentapplication Ser. No. ______ (Attorney Docket No. 18643-US) entitled“Horticultural Knowledge Base for Managing Yards and Gardens”; U.S.patent application Ser. No. ______ (Attorney Docket No. 18955-US)entitled “Resource Use Management”; U.S. patent application Ser. No.______ (Attorney Docket No. 18419-US) entitled “Robotic Watering Unit”all of which are hereby incorporated by reference.

FIELD OF THE INVENTION

The present invention relates generally to an irrigation control systemand, more particularly, to a system and method for watering plants.

BACKGROUND OF THE INVENTION

Horticulture is the industry and science of plant cultivation.Horticulturists work and conduct research in the disciplines of plantpropagation and cultivation, crop production, plant breeding and geneticengineering, plant biochemistry, and plant physiology. The workparticularly involves fruits, berries, nuts, vegetables, flowers, trees,shrubs, and turf. Horticulturists work to improve crop yield, quality,nutritional value, and resistance to insects, diseases, andenvironmental stresses.

One aspect of horticultural management is irrigation. Irrigation istypically used to water large, homogeneous areas such as fields, lawns,and gardens. The water is assumed to be available from a single source,such as a well, canal, or municipal water system. Water from municipalwater systems are often stressed during times of heat and drought, andwatering restrictions are frequently implemented to provide adequatewater for higher priority uses. These restrictions may start as odd-evenday lawn watering and progress to complete bans on lawn watering, andfinally to complete bans on garden watering.

The fields and lawns typically have a single species of plant and waterapplication is based on water sensors, evapotranspiration models, orrules. This type of irrigation system can be inadequate for yards andgardens where numerous species are growing in close proximity,particularly large water users like trees and shrubs in proximity tolesser water users. Trees, shrubs, and structures also provide shade,which impacts evapotranspiration, which is the sum of evaporation andplant transpiration.

SUMMARY

An embodiment of the present invention provides a computer implementedmethod and system for providing an application of a resource plants. Aplurality of per plant prescriptions for a plurality of plants arereceived and a source is selected to fulfill the plurality of per plantprescriptions to form a selected source. Movement of a mobile utilityvehicle is controlled to the selected source, the resource is obtained,and movement of the mobile utility vehicle is controlled to each plantin the plurality of plants. The resource is applied from the mobileutility vehicle to each plant according to the per plant prescription.

The features, functions, and advantages can be achieved independently invarious embodiments of the present invention or may be combined in yetother embodiments in which further details can be seen with reference tothe following description and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features believed characteristic of the illustrativeembodiments are set forth in the appended claims. The illustrativeembodiments, however, as well as a preferred mode of use, furtherobjectives and advantages thereof, will best be understood by referenceto the following detailed description of an illustrative embodiment ofthe present invention when read in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is a block diagram of a resource use management system in whichan illustrative embodiment may be implemented;

FIG. 2 is a block diagram of water use in accordance with anillustrative embodiment;

FIG. 3 is a block diagram of a data processing system in accordance withan illustrative embodiment;

FIG. 4 is a block diagram of a mobile utility vehicle in accordance withan illustrative embodiment;

FIG. 5 is a block diagram of a water source in accordance with anillustrative embodiment;

FIG. 6 is a block diagram of a plurality of databases in accordance withan illustrative embodiment;

FIG. 7 is a block diagram of a horticultural knowledge base inaccordance with an illustrative embodiment;

FIG. 8 is a block diagram of a per plant prescription in accordance withan illustrative embodiment;

FIG. 9 is a block diagram of a sensor system in accordance with anillustrative embodiment;

FIG. 10 is a flowchart illustrating a process for managing water use inaccordance with an illustrative embodiment;

FIG. 11 is a flowchart illustrating a process for determining waterneeds in accordance with an illustrative embodiment;

FIG. 12 is a flowchart illustrating a process for identifying currentconditions in accordance with an illustrative embodiment;

FIG. 13 is a flowchart illustrating a process for watering a pluralityof plants in accordance with an illustrative embodiment;

FIG. 14 is a flowchart illustrating a process for selecting a watersource in accordance with an illustrative embodiment;

FIG. 15 is a flowchart illustrating a process for obtaining water at awater source in accordance with an illustrative embodiment; and

FIG. 16 is a flowchart illustrating a process for releasing water from awater source in accordance with an illustrative embodiment.

DESCRIPTION OF THE PREFERRED EMBODIMENT

FIG. 1 is a block diagram of a resource use management system in whichan illustrative embodiment may be implemented. Resource use managementsystem 100 may be implemented in a network of computers in which theillustrative embodiments may be implemented. Resource use managementsystem 100 contains network 102, which is the medium used to providecommunications links between various devices and computers connectedtogether within resource use management system 100, such as mobileutility vehicle 104 and remote location 106. Network 102 may includeconnections, such as wire, wireless communication links, or fiber opticcables.

In the depicted example, mobile utility vehicle 104 connects to network102 in a wireless configuration while remote location 106 has a hardconnection to network 102. In another illustrative embodiment, bothmobile utility vehicle 104 and remote location 106 may connect tonetwork 102 in a wireless configuration. Remote location 106 may be, forexample, personal computers or network computers. In one illustrativeexample, remote location 104 provides data, such as boot files,operating system images, and applications, to mobile utility vehicle104. Resource use management system 100 may also include plurality ofdatabases 134 and planning process 136. Plurality of database 134 may belocated at remote location 106, in mobile utility vehicle 104, ordistributed across both a remote location and a mobile utility vehicle.Mobile utility vehicle 104 is a client to remote location 106 in thisexample. Resource use management system 100 may include additionalservers, clients, and other devices not shown.

Resource use management system 100 may be used to manage a number ofdifferent resources. As used herein, resource refers to, for example,without limitation, water, fertilizer, herbicide, insecticide,fungicide, plant food, nutrients, and/or any other suitable resource forhorticultural management. Although the illustrative examples providedherein depict management of water, any resource may be managed using thedifferent illustrative embodiments.

Resource use management system 100 includes water sources 108, pluralityof plants 110, and sensor system 112. In this illustrative example,water is the resource managed by resource use management system 100.Water sources 108 is an illustrative example of different sources ofwater that mobile utility vehicle 104 can draw upon in providing waterto plurality of plants 110 according to each plant's need as detected bysensor system 112. Providing water to plurality of plants 110 is anexample of a horticultural task executed by mobile utility vehicle 104.Water sources 108 includes rain barrel 114, grey water reservoir 116,solar powered condenser 118, well 120, municipal water 122, and canal124. Rain barrel 114 is a device for collecting and maintainingharvested rain. In an illustrative example, rain barrel 114 may be awater tank which is used to collect and store rain water runoff,typically from rooftops via rain gutters. In another illustrativeexample, rain barrel 114 may be an in-ground rainwater tank used forretention of storm water.

Grey water reservoir 116 is a device for collecting non-industrial wastewater generated from domestic processes such as dish washing, laundryand bathing. Grey water may comprise waste water generated from alltypes of residential sanitation equipment except for the toilets. Solarpowered condenser 118 condenses water vapor into liquid water using thesunlight which is converted to electricity. In these examples, well 120is an excavation or structure created in the ground to access water inunderground aquifers. In an illustrative embodiment, well 120 mayinclude an electric submersible pump or a mechanical pump used to drawwater up to the surface. In another illustrative example, water fromwell 120 may be drawn up using containers, such as buckets, which areraised mechanically. In one illustrative embodiment, well 120 mayinclude a storage tank with a pressure system. In another illustrativeembodiment, well 120 may include a cistern along with a small secondpump.

Municipal water 122 is water supplied by the water supply network of alocal community, county, and/or municipality. Canal 124 is a watersupply channel, or conduit, that is constructed to convey water from onelocation to another. In an illustrative embodiment, canal 124 maycomprise a system of pipes, ditches, canals, tunnels, and otherstructures used for the conveyance of water.

Plurality of plants 110 includes individual plants 126, 128, and 130.Individual plants 126, 128, and 130 may be homogenous or heterogeneousplant varieties and/or species. In an illustrative embodiment,individual plants 126, 128, and 130 are located in area 132. Area 132 isany location in which a plurality of plants 110 may be located. Area 132may be, for example, a flowerbed, garden, yard, lawn, landscape, park,field, green, golf course, fairway, rough, orchard, vineyard, or anyother area of recreational or amenity land planted with grass and/orother plants. Area 132 may be contiguous or non-contiguous. In oneillustrative embodiment, individual plants 126, 128, and 130 may belocated in the same portion of area 132. In another illustrativeembodiment, individual plants 126, 128, and 130 may be located inseparate portions of area 132. In yet another illustrative embodiment,individual plants 126, 128, and 130 may be grouped together inhomogenous groupings, or may be grouped together in heterogeneousgroupings. Individual plants 126, 128, and 130 may be grouped togetherin a dense arrangement, or may be spaced apart in any number ofarrangements and distances.

Individual plants 126, 128, and 130 are used as an illustrative exampleof a number of plants that may be present in area 132. Area 132 maycontain a number of heterogenous plants and/or a number of homogeneousplants. As used herein, each plant may refer to one or more plantswithin a category of plants, and/or one or more plants within a commonarea of location. For example, in an illustrative embodiment, if area132 is a golf course, individual plant 126 may represent a number oftypes of plants and/or vegetation on the areas of the golf coursereferred to as the green, while individual plant 128 may represent anumber of types of plants and/or vegetation on the areas of the golfcourse referred to as the rough.

Sensor system 112 may be a set of sensors used to collect informationabout the environment around mobile utility vehicle 104 as well as thecondition of individual plants 126, 128, and 130, and the condition ofarea 132 containing individual plants 126, 128, and 130. In theseexamples, a set refers to one or more items. A set of sensors is one ormore sensors in these examples. Sensor system 112 may be distributedacross mobile utility vehicle 104 and the area containing plurality ofplants 110.

The illustration of resource use management system 100 in FIG. 1 isintended as an example, and not as an architectural limitation to themanner in which the different illustrative embodiments may beimplemented. Other components may be used in addition to or in place ofthe ones illustrated for resource use management system 100 in otherillustrative embodiments. For example, in some illustrative embodimentsa set of mobile utility vehicles may be used in addition to mobileutility vehicle 104. In another illustrative example, water sources 108may contain additional resources such as, for example, withoutlimitation, fertilizer, herbicide, insecticide, fungicide, plant food,nutrients, and other substances used in plant care and maintenance. Asused herein, water refers to water and/or other resources that may beapplied to plants, such as individual plants 126, 128, and 130. Otherresources may be, for example, without limitation, fertilizer,herbicide, insecticide, fungicide, plant food, nutrients, and the like.

In yet another illustrative embodiment, resource use management system100 may represent a system for addressing horticultural tasks other thanwater management. A horticultural task may include, without limitation,watering, pruning, cultivating, and winterizing a number of plants. Asused herein, a number refers to one or more plants.

With reference now to FIG. 2, a block diagram of water use is depictedin accordance with an illustrative embodiment. Water use 200 is anexample of mobile utility vehicle 104 in FIG. 1 obtaining water fromwater sources 108 and applying the water to plurality of plants 110using information collected by sensor system 112 in FIG. 1.

Individual plant 202 is an example of individual plants 126, 128, and130 in FIG. 1. Sensor 204 is a soil moisture sensor located within thesame portion of the area in which individual plant 202 is located.Sensor 204 measures the water content in soil around individual plant202. Actual water applied 206 is water applied by mobile utility vehicle104 in FIG. 1.

With reference now to FIG. 3, a block diagram of a data processingsystem is depicted in which illustrative embodiments may be implemented.Data processing system 300 is an example of a computer, such as remotelocation 106 or mobile utility vehicle 104 in FIG. 1, in which computerusable program code or instructions implementing the processes may belocated for the illustrative embodiments. In this illustrative example,data processing system 300 includes communications fabric 302, whichprovides communications between processor unit 304, memory 306,persistent storage 308, communications unit 310, input/output (I/O) unit312, and display 314.

Processor unit 304 serves to execute instructions for software that maybe loaded into memory 306. Processor unit 304 may be a set of one ormore processors or may be a multi-processor core, depending on theparticular implementation. Further, processor unit 304 may beimplemented using one or more heterogeneous processor systems in which amain processor is present with secondary processors on a single chip. Asanother illustrative example, processor unit 304 may be a symmetricmulti-processor system containing multiple processors of the same type.

Memory 306, in these examples, may be, for example, a random accessmemory or any other suitable volatile or non-volatile storage device.Persistent storage 308 may take various forms depending on theparticular implementation. For example, persistent storage 308 maycontain one or more components or devices. For example, persistentstorage 308 may be a hard drive, a flash memory, a rewritable opticaldisk, a rewritable magnetic tape, or some combination of the above. Themedia used by persistent storage 308 also may be removable. For example,a removable hard drive may be used for persistent storage 308.

Communications unit 310, in these examples, provides for communicationswith other data processing systems or devices. In these examples,communications unit 310 is a network interface card. Communications unit310 may provide communications through the use of either or bothphysical and wireless communications links.

Input/output unit 312 allows for input and output of data with otherdevices that may be connected to data processing system 300. Forexample, input/output unit 312 may provide a connection for user inputthrough a keyboard and mouse. Further, input/output unit 312 may sendoutput to a printer. Display 314 provides a mechanism to displayinformation to a user.

Instructions for the operating system and applications or programs arelocated on persistent storage 308. These instructions may be loaded intomemory 306 for execution by processor unit 304. The processes of thedifferent embodiments may be performed by processor unit 304 usingcomputer implemented instructions, which may be located in a memory,such as memory 306. These instructions are referred to as program code,computer usable program code, or computer readable program code that maybe read and executed by a processor in processor unit 304. The programcode in the different embodiments may be embodied on different physicalor tangible computer readable media, such as memory 306 or persistentstorage 308.

Program code 316 is located in a functional form on computer readablemedia 318 that is selectively removable and may be loaded onto ortransferred to data processing system 300 for execution by processorunit 304. Program code 316 and computer readable media 318 form computerprogram product 320 in these examples. In one example, computer readablemedia 318 may be in a tangible form, such as, for example, an optical ormagnetic disc that is inserted or placed into a drive or other devicethat is part of persistent storage 308 for transfer onto a storagedevice, such as a hard drive that is part of persistent storage 308. Ina tangible form, computer readable media 318 also may take the form of apersistent storage, such as a hard drive, a thumb drive, or a flashmemory that is connected to data processing system 300. The tangibleform of computer readable media 318 is also referred to as computerrecordable storage media. In some instances, computer recordable media318 may not be removable.

Alternatively, program code 316 may be transferred to data processingsystem 300 from computer readable media 318 through a communicationslink to communications unit 310 and/or through a connection toinput/output unit 312. The communications link and/or the connection maybe physical or wireless in the illustrative examples. The computerreadable media also may take the form of non-tangible media, such ascommunications links or wireless transmissions containing the programcode.

The different components illustrated for data processing system 300 arenot meant to provide architectural limitations to the manner in whichdifferent embodiments may be implemented. The different illustrativeembodiments may be implemented in a data processing system includingcomponents in addition to or in place of those illustrated for dataprocessing system 300. Other components shown in FIG. 3 can be variedfrom the illustrative examples shown.

As one example, a storage device in data processing system 300 is anyhardware apparatus that may store data. Memory 306, persistent storage308, and computer readable media 318 are examples of storage devices ina tangible form.

In another example, a bus system may be used to implement communicationsfabric 302 and may be comprised of one or more buses, such as a systembus or an input/output bus. Of course, the bus system may be implementedusing any suitable type of architecture that provides for a transfer ofdata between different components or devices attached to the bus system.Additionally, a communications unit may include one or more devices usedto transmit and receive data, such as a modem or a network adapter.Further, a memory may be, for example, memory 306 or a cache, such asfound in an interface and memory controller hub that may be present incommunications fabric 302.

With reference now to FIG. 4, a block diagram of a mobile utilityvehicle is depicted in accordance with an illustrative embodiment.Mobile utility vehicle 400 is an example of one implementation formobile utility vehicle 104 in FIG. 1.

As illustrated, mobile utility vehicle 400 includes machine controller402, propulsion system 404, steering system 406, braking system 408,water acquisition and application system 410, water storage system 416,sensor system 418, communications unit 420, and data storage device 434.

Machine controller 402 includes download module 422, horticulturalknowledge base 424, user interface 426, utility function 428, controlsoftware 430, and coordination software 432. Machine controller 402 maybe, for example, a data processing system, such as data processingsystem 300 in FIG. 3, or some other device that may execute processes tocontrol movement of mobile utility vehicle 400. Machine controller 402may be, for example, a computer, an application integrated specificcircuit, and/or some other suitable device. Different types of devicesand systems may be used to provide redundancy and fault tolerance.Machine controller 402 may be connected to the different components andsystems of mobile utility vehicle 400, such as propulsion system 404,steering system 406, braking system 408, water acquisition andapplication system 410, water storage system 416, sensor system 418,communications unit 420, and data storage device 434. As used herein,connected to refers to the machine controller being in communicationwith the different components and systems of mobile utility vehicle 400in a manner such that information can be exchanged between machinecontroller 402 and the different components and systems of mobileutility vehicle 400. In an illustrative example, information may beanything can be sent between the components and systems of mobileutility vehicle 400 to operate mobile utility vehicle 400. Examples ofinformation include, but are not limited to, data, commands, programs,and/or any other suitable information.

Control software 430 may include software such as planning process 431.Planning process 431 may be used by machine controller 402 to generateplans for execution of horticultural tasks using horticultural knowledgebase 424.

Machine controller 402 may execute processes using control software 430to control propulsion system 404, steering system 406, and brakingsystem 408 to control movement of mobile utility vehicle 400. Machinecontroller 402 may also use coordination software 432 to coordinate themovements of each mobile utility vehicle receiving commands from machinecontroller 402. Machine controller 402 may execute processes usingcontrol software 430 to control water acquisition and application system410, water storage system 416, and sensor system 418 to control wateracquisition and application by mobile utility vehicle 400. Machinecontroller 402 may execute processes using horticultural knowledge base424 and/or utility function 428 to control tasks being performed bymobile utility vehicle 400, such as water application by wateracquisition and application system 410, for example. Machine controller402 may send various commands to these components to operate the mobileutility vehicle in different modes of operation. These commands may takevarious forms depending on the implementation. For example, the commandsmay be analog electrical signals in which a voltage and/or currentchange is used to control these systems. In other implementations, thecommands may take the form of data sent to the systems to initiate thedesired actions.

Machine controller 402 may be a single processing unit, two processingunits, or distributed across a number of processing units. As usedherein, a number refers to one or more processing units.

Download module 422 provides for updates of horticultural knowledge base424 through a control system or remote location, such as remote location106 in FIG. 1. Download module 422 may also provide mobile utilityvehicle 400 access to per plant prescriptions, and other informationlocated at a remote location, such as remote location 106 in FIG. 1.

Horticultural knowledge base 424 contains information about theoperating environment, such as, for example, a fixed map showing thelandscape, structures, tree locations, flowerbed locations, individualplant locations, and other static object locations. Horticulturalknowledge base 424 may also contain information, such as, withoutlimitation, plant species and varieties located in the operatingenvironment, information about the water needs, growth stages, and lifecycles of the plant species and varieties located in the operatingenvironment, current weather for the operating environment, weatherhistory for the operating environment, specific environmental featuresof the operating environment that affect mobile utility vehicle 400,and/or any other suitable information for management and execution ofhorticultural tasks. The information in horticultural knowledge base 424may be used to perform classification and plan actions for horticulturaltasks. Horticultural knowledge base 424 may be located entirely inmobile utility vehicle 400 or parts or all of horticultural knowledgebase 424 may be located in a remote location, such as remote location106 in FIG. 1, which is accessed by mobile utility vehicle 400.

User interface 426 may be, in one illustrative embodiment, presented ona display monitor mounted on a side of mobile utility vehicle 400 andviewable by an operator. User interface 426 may display sensor data fromthe environment surrounding mobile utility vehicle 400, as well asmessages, alerts, and queries for the operator. In other illustrativeembodiments, user interface 426 may be presented on a remote displayheld by an operator or located in a remote location, such as remotelocation 106 in FIG. 1.

Utility function 428 operates with constraints to maximize the utilityof water use in the context of the whole growing season for theplurality of plants, such as plurality of plants 110 in FIG. 1. Theexact utility function of utility function 428 may be tailored by anoperator, such as a garden administrator for example, via user interface426. In one illustrative embodiment, utility function 428 operates tomaximize benefits and minimize costs according to a number ofconstraints. The number of constraints may be the current water rulesfor a location. Current water rules may include, for example, watershortage information, water restrictions imposed upon a certainlocation, and/or the amount of water currently accessible to mobileutility vehicle 400 from the plurality of available water sources, suchas water sources 108 in FIG. 1.

In an illustrative embodiment, for example, a garden administrator mayemploy utility function 428 to consider the following illustrativesubset of information received from horticulture knowledge base 700 inFIG. 7 for plurality of plants 110 in FIG. 1:

Plant Type Growth Stage Minimum Optimum Note 126 annual past flowering100 ml  200 ml none 128 perennial pre flowering 50 ml 150 ml show 130annual pre flowering 75 ml 150 ml none

In this illustrative subset of information, the optimum amount of waterto apply to plurality of plants 110 is 500 milliliters (ml). Actualapplication at the current time may be constrained to only 250 ml. Theconstraint may be due to, for example, water shortage or droughtrestrictions put in place by a city or township, for example. The gardenadministrator could prioritize water as follows: (1) plants to befeatured in an upcoming show, (2) perennials, (3) annuals inpre-flowering stage, and (4) annuals in post-flowering stage, kept onlyas greenery, that may be given 0 ml (i.e. left to die).

Based on this illustrative prioritization, individual plant 128 in FIG.1 is given the highest priority and could be given the optimum 150 ml ofwater. Individual plant 130 in FIG. 1 could then be given 100 ml ofwater, and individual plant 126 in FIG. 1 would not be given any water.If a plant, such as individual plant 126 in FIG. 1, is to be abandoned,a work order may be generated to have it removed so it does not draw anyadditional water from the soil. If water is ample, it can be left andwatered to provide aesthetically pleasing greenery.

In these examples, propulsion system 404 may propel or move mobileutility vehicle 400 in response to commands from machine controller 402.Propulsion system 404 may maintain or increase the speed at which amobile utility vehicle moves in response to instructions received frommachine controller 402. Propulsion system 404 may be an electricallycontrolled propulsion system. Propulsion system 404 may be, for example,an internal combustion engine, an internal combustion engine/electrichybrid system, an electric engine, or some other suitable propulsionsystem.

Steering system 406 may control the direction or steering of mobileutility vehicle 400 in response to commands received from machinecontroller 402. Steering system 406 may be, for example, an electricallycontrolled hydraulic steering system, an electrically driven rack andpinion steering system, an Ackerman steering system, a skid-steersteering system, a differential steering system, or some other suitablesteering system.

Braking system 408 may slow down and/or stop mobile utility vehicle 400in response to commands from machine controller 402. Braking system 408may be an electrically controlled steering system. This braking systemmay be, for example, a hydraulic braking system, a friction brakingsystem, or some other suitable braking system that may be electricallycontrolled.

Water acquisition and application system 410 is an example of one typeof system that may be located on mobile utility vehicle 400 forexecuting a horticultural task, such as watering. Water acquisition andapplication system 410 enables mobile utility vehicle 400 to acquire aresource, such as water, from a plurality of water sources, such aswater sources 108 in FIG. 1, for storage in water storage system 416.Water storage system 416 is an illustrative example of a type ofresource storage system used by mobile utility vehicle 400. Wateracquisition and application system 410 also enables mobile utilityvehicle 400 to apply a resource, such as water, to a plurality ofindividual plants, such as individual plants 126, 128, and 130 inFIG. 1. Water acquisition and application system 410 includes pumpingsystem 412 and valve system 414.

Valve system 414 may include a number of valves for starting andstopping the flow of a resource. Valve system 414 may be used inconjunction with gravity feed to acquire a resource from resourcesources that are above the level of reservoir 438 in water storagesystem 416. Pumping system 412 may be used to draw a resource fromresource sources that are below the level of reservoir 438 into waterstorage system 416.

In an illustrative example, while gravity feed could be used to waterplants, this requires that the water level be above the outlet level.This may not be suitable for small mobile utility vehicles such asrobots, which need to water plants in large pots or pots which areplaced above the surrounding area on a pedestal. For plants that are ata level below reservoir 438 of mobile utility vehicle 400, valve system414 is used to allow a resource, such as water, to be pulled by gravityand dispersed. For plants that are at a level above reservoir 438,pumping system 412 would allow a resource, such as water, to betransferred from water storage system 416 to a plurality of plants, suchas, for example, one of plurality of plants 110 in FIG. 1. As usedherein, a number of plants is one or more plants. The amount of aresource, such as water, is specified by a per plant prescription. Theactual resource applied may be estimated from pump activity or measuredusing a fluid flow sensor, such as flow/level meter 440 in water storagesystem 416.

Water storage system 416 includes reservoir inlet 436, reservoir 438,flow/level meter 440, and agitator 442. Reservoir inlet 436 is anopening or conduit for allowing a resource to be added to reservoir 438.Reservoir 438 is a vessel used to hold a resource in reserve. In anillustrative embodiment, water storage system 416 may have a number ofreservoirs. As used herein, a number refers to one or more reservoirs.Flow/level meter 440 monitors the amount of a resource in reservoir 438and the amount of a resource applied at a particular location.

In an illustrative embodiment, flow/level meter 440 may be, for example,a float in reservoir 438. The vertical position of the float may berepresentative of the amount of water in reservoir 438. In anillustrative embodiment, the float may be a sensor that tracks thechange of water level over time, and transmits the sensor data to aprocessing system, such as machine controller 402. In anotherillustrative embodiment, flow/level meter 440 may be a device formeasuring the flow rate of water as water passes from reservoir 438through water acquisition and application system 410. For example, apinwheel sensor device may be used to measure the amount of waterflowing out of reservoir 438. The pinwheel sensor device may spin aswater flows over the device, and the rate of the spin may indicate theamount of water flowing over the device. The sensor data may betransmitted to a data processing system, such as machine controller 402.In another illustrative example, if the initial reservoir level isknown, the sensor data for the flow rate over a pinwheel device may beused to calculate the remaining level in the reservoir.

Agitator 442 may be used to mix two or more resources together toachieve a uniform consistency in reservoir 438. Resources may be, forexample, without limitation, water, fertilizer, herbicide, insecticide,fungicide, plant food, nutrients, and the like.

Sensor system 418 is a high integrity perception system and may be a setof sensors used to collect information about the environment around amobile utility vehicle. In these examples, the information is sent tomachine controller 402 to provide data in identifying how mobile utilityvehicle 400 should manage water use, specifically providing data aboutthe plurality of plants and current conditions in the operatingenvironment. In these examples, a set refers to one or more items. A setof sensors is one or more sensors in these examples.

Communication unit 420 is a high integrity communications system and mayprovide multiple redundant communications links and channels to machinecontroller 402 to receive information. The communication links andchannels may be heterogeneous and/or homogeneous redundant componentsthat provide fail-safe communication. This information includes, forexample, data, commands, and/or instructions.

Communication unit 420 may take various forms. For example,communication unit 420 may include a wireless communications system,such as a cellular phone system, a Wi-Fi wireless system, a Bluetoothwireless system, and/or some other suitable wireless communicationssystem. Further, communication unit 420 also may include acommunications port, such as, for example, a universal serial bus port,a serial interface, a parallel port interface, a network interface,and/or some other suitable port to provide a physical communicationslink. Communication unit 420 may be used to communicate with a remotelocation, such as remote location 106 in FIG. 1, or an operator.

Data storage device 434 is one example of persistent storage 308 in FIG.3. Data storage device 434 includes per plant prescription 444. Perplant prescription 444 may be obtained using horticultural knowledgebase 424, or may be received from a remote location via download module422.

The illustration of mobile utility vehicle 400 in FIG. 4 is not meant toimply physical or architectural limitations on the manner in whichdifferent advantageous embodiments may be implemented. Other componentsin addition or in place of the ones illustrated may be used. Somecomponents may be unnecessary in some advantageous embodiments. Also,the blocks are presented to illustrate some functional components andcombined and/or divided into different blocks when implemented inhardware and/or software. For example, in some advantageous embodimentsan agitator may be unnecessary for water storage system 416. In someother advantageous embodiments, multiple reservoirs may be found withinwater storage system 416, where each reservoir contains a differentresource. As used herein, water refers to water and/or other resourcesthat may be applied to plants, such as individual plants 126, 128, and130 in FIG. 1. Other resources may be, for example, without limitation,fertilizer, herbicide, insecticide, fungicide, plant food, nutrients,and the like.

In another advantageous embodiment, mobile utility vehicle 400 maycontain additional systems in place of or in addition to the systemsdepicted. For example, other systems may include, without limitation,pruning systems, cultivation systems, planting systems, and/or any othersuitable system for executing horticultural tasks. Mobile utilityvehicle 400 may be a general purpose mobile utility vehicle or adedicated mobile utility vehicle. A general purpose mobile utilityvehicle may have one or more interchangeable systems. A dedicated mobileutility vehicle may have one or more fixed systems.

With reference now to FIG. 5, a block diagram of a water source isdepicted in accordance with an illustrative embodiment. Water source 500is an example of one of water sources 108 in FIG. 1.

Water source 500 includes water release system 502, water storage system504, and communications unit 506. Water release system 502 includesauthentication system 508, docking system 510, and filling system 512.Authentication system 508 receives identification information from amobile utility vehicle, such as mobile utility vehicle 400 in FIG. 4,and determines whether the mobile utility vehicle is authorized to drawwater from water source 500. For example, in an illustrative embodiment,authentication system 508 may include a radio frequency identificationreader that detects a radio frequency identification tag on a mobileutility vehicle.

Docking system 510 allows a mobile utility vehicle to achieve thecorrect position for the transfer of water between water source 500 andthe mobile utility vehicle.

Filling system 512 includes pumping system 514 and valve system 516.Pumping system 514 may be used to draw water from water source 500 inorder to send the water into the mobile utility vehicle. Valve system516 may include a number of valves for starting and stopping the flow ofwater from water source 500 to a mobile utility vehicle. Valve system516 may be used in conjunction with gravity feed to send water fromwater source 500 to a mobile utility vehicle that is below the level ofwater source 500.

Water storage system 504 includes reservoir inlet 518, source reservoir520, and flow/level meter 522. Reservoir inlet 518 is an opening orconduit for allowing water to be added to source reservoir 520. Sourcereservoir 520 is a vessel used to hold water in reserve. In anillustrative embodiment, source reservoir may be a barrel, condenser,well, canal, lake, river, stream, creek, pond, and the like. Flow/levelmeter 522 monitors the amount of water in source reservoir 520 and theamount of water transferred to a particular mobile utility vehicle. Inan illustrative embodiment, flow/level meter 522 may be, for example, afloat in source reservoir 520, a device for measuring the flow rate ofwater as water passes from source reservoir 520 to a mobile utilityvehicle, or a combination.

Communications unit 506 may optionally be used to receive identificationinformation from a mobile utility vehicle and transmit water source datato a remote location, such as remote location 106 in FIG. 1, or anoperator. Communications unit 506 may take various forms. For example,communication unit 506 may include a wireless communications system,such as a cellular phone system, a Wi-Fi wireless system, a Bluetoothwireless system, and/or some other suitable wireless communicationssystem. Further, communication unit 506 also may include acommunications port, such as, for example, a universal serial bus port,a serial interface, a parallel port interface, a network interface,and/or some other suitable port to provide a physical communicationslink.

The illustration of water source 500 in FIG. 5 is not meant to implyphysical or architectural limitations on the manner in which differentadvantageous embodiments may be implemented. Other components inaddition or in place of the ones illustrated may be used. Somecomponents may be unnecessary in some advantageous embodiments. Also,the blocks are presented to illustrate some functional components andcombined and/or divided into different blocks when implemented inhardware and/or software. For example, in some advantageous embodiments,authentication system 508 and communications unit 506 may be integratedas one system. In some other advantageous embodiments, filling system512 may contain only one system, or another system in addition topumping system 514 and valve system 516.

With reference now to FIG. 6, a block diagram of a plurality ofdatabases is depicted in accordance with an illustrative embodiment.Plurality of databases 600 may be located at a remote location, such asremote location 106 in FIG. 1, in a mobile utility vehicle, such asmobile utility vehicle 104 in FIG. 1 and mobile utility vehicle 400 inFIG. 4, or distributed across both a remote location and a mobileutility vehicle.

Plurality of databases 600 includes horticultural knowledge base 602,horticultural task rules 604, weather and solar forecast 606, soilmoisture model 608, water source authentication database 610, and watersource level database 612. Horticultural knowledge base 602 containsinformation about the operating environment, such as, for example, afixed map showing the landscape, structures, tree locations, flowerbedlocations, individual plant locations, and other static objectlocations. Horticultural knowledge base 602 may also containinformation, such as, without limitation, plant species and varietieslocated in the operating environment, information about the water needs,growth stages, and life cycles of the plant species and varietieslocated in the operating environment, current weather for the operatingenvironment, weather history for the operating environment, specificenvironmental features of the operating environment that affect a mobileutility vehicle, such as mobile utility vehicle 400 in FIG. 4, pruningpatterns, planting depth, seed orientation, cultivation methods,winterization methods, and/or any other suitable horticulturalinformation.

The information in horticultural knowledge base 602 may be used toperform classification and plan actions. Horticultural knowledge base602 may be located entirely in a mobile utility vehicle, such as mobileutility vehicle 400 in FIG. 4, or parts or all of horticulturalknowledge base 602 may be located in a remote location, such as remotelocation 106 in FIG. 1, which is accessed by a mobile utility vehicle.

Horticultural task rules 604 may include, without limitation, waterrules 614, pruning rules 616, planting rules 618, cultivation rules 620,and winterization rules 622. Water rules 614 may include current waterrules for the operating environment of a mobile utility vehicle. Waterrules 614 may include water shortage information, water restrictionsimposed upon an operating environment, or the amount of water currentlyaccessible to a mobile utility vehicle, such as mobile utility vehicle104 in FIG. 1, from a plurality of available water sources, such aswater sources 108 in FIG. 1.

Pruning rules 616 may include rules about what time of year a particularplant should be pruned, based on the plant variety, species, growthstage, and/or life cycle of the particular plant. Pruning may refer tothe removal of diseased, non-productive, or otherwise unwanted portionsfrom a plant. Pruning may be used to shape a plant by controlling ordirecting plant growth, maintain the health of the plant, or to increasethe yield or quality of flowers and fruits.

For example, pruning small branches may be done at any time of the year.In another illustrative example, pruning large branches, with more thanfive to ten percent of the plant's crown, may be done during dormancy inwinter or in mid summer just after flowering. In this example, pruningrules 616 may take into account the type of plant being pruned, andfurther specify that one plant species may experience harm from winterfrost if pruned during dormancy and should be pruned mid summer, whileanother plant species is hardy enough to withstand pruning duringwinter. Some plant species, such as a magnolia for example, are betterpruned in summer or at the onset of dormancy because the plant speciesare slow to callous over after pruning. Woody plants that flower earlyin the season, such as apples, azaleas, and lilacs, for example, shouldbe pruned right after flowering because later pruning may sacrificeflowers in the subsequent season.

Planting rules 618 may include rules on when to plant seeds, seedtreatment prior to planting, seed depth for planting, seed orientationfor planting, and/or any other suitable planting rules for a particularplant based upon the plant variety, plant species, and/or life cycle ofthe particular plant. For example, some species of plant may requirecold treatment in order to germinate and should be planted during winterin order to germinate properly in the spring. In another illustrativeexample, some species of plant may germinate quickly and need atemperate environment to flourish, and therefore need to be planted inthe spring.

Rules for when to plant seeds may refer to which season is best forplanting. Rules for seed treatment prior to planting may include rules,such as, without limitation, seed scarification, stratification, seedsoaking, seed cleaning, seed germination, and/or any other suitable seedtreatment. Seed orientation may refer to the position of a seed in thesoil, such as, for example, positioned with the roots down.

Cultivation rules 620 may include rules for when to cultivate a plantbased on the plant variety, species, growth stage, and/or life cycle ofthe particular plant. Cultivation may refer to tasks such as, withoutlimitation, tilling or working the soil, removing weeds, harvestingplants, and/or any other suitable cultivation task.

Winterization rules 622 may include rules for when to winterize aparticular plant based on the plant variety, species, growth stage,and/or life cycle of the particular plant. For example, certainvarieties of perennials may need winterization in order to survive untilthe next season.

Weather and solar forecast 606 may contain information about the currentoperating conditions in an operating environment. Current operatingconditions may include factors such as, without limitation, recentrainfall, current rainfall, expected rainfall, drought, rain shortage,wind, cloud cover, shade, direct sunlight, current temperature, and thelike.

Soil moisture model 608 is a basic model of the ideal soil moistureconditions for an individual plant, such as individual plants 126, 128,and 130 in FIG. 1. Soil moisture model 608 may be adjusted according toin situ measurements of the type of soil and/or topography of theoperating environment. The topography may include features of theoperating environment such as, without limitation, a slope or hill ofthe operating environment. In these examples, the topography may affectthe moisture retention of soil in the operating environment.

Water source authentication database 610 may contain information foridentifying and authenticating authorized mobile utility vehicles. Forexample, in an illustrative embodiment, water source authenticationdatabase 610 may contain information about the particular water sourcesa particular mobile utility vehicle is authorized to draw water from, orspecific dates and times at which a particular mobile utility vehiclemay draw water from a particular water source. Water sourceauthentication database 610 may be accessed by a water source, such aswater source 500 in FIG. 5 using an authentication system, such asauthentication system 508 in FIG. 5. Water source authenticationdatabase 610 may also be accessed by a mobile utility vehicle, such asmobile utility vehicle 400 in FIG. 4 using download module 420 toacquire authentication codes for a particular water source, for example.

Water source level database 612 contains information about the currentwater levels of different water sources, such as water sources 108 inFIG. 1. In an illustrative embodiment, a water source, such as watersource 500 in FIG. 5, may transmit source reservoir level information towater source level database 612. A mobile utility vehicle, such asmobile utility vehicle 400 in FIG. 4 may access water source leveldatabase 612 when determining which water source to access in order tofull a per plant prescription.

The illustration of plurality of databases 600 in FIG. 6 is not meant toimply physical or architectural limitations on the manner in whichdifferent advantageous embodiments may be implemented. Other componentsin addition or in place of the ones illustrated may be used. Somecomponents may be unnecessary in some advantageous embodiments. Also,the blocks are presented to illustrate some functional components andcombined and/or divided into different blocks when implemented inhardware and/or software. For example, in some advantageous embodimentsplurality of databases 600 may contain additional databases, or fewerdatabases.

With reference now to FIG. 7, a block diagram of a horticulturalknowledge base is depicted in accordance with an illustrativeembodiment. Horticultural knowledge base 700 is an example of aknowledge base component of a machine controller, such as horticulturalknowledge base 424 of mobile utility vehicle 400 in FIG. 4. For example,horticultural knowledge base 700 may be, without limitation, a componentof a navigation system, an autonomous machine controller, asemi-autonomous machine controller, or may be used to make horticulturalmanagement decisions regarding operating environment activities andcoordination activities.

Horticultural knowledge base 700 includes fixed knowledge base 702,online knowledge based 704, and learned knowledge base 706.

Fixed knowledge base 702 contains static information about the operatingenvironment of a mobile utility vehicle. Fixed knowledge base 702includes work area maps 708, plant species 710, plant varieties 712,water needs 714, growth stages 716, life cycles 718, object database720, pruning patterns 722, cultivation methods 724, and winterizationmethods 726. Work area maps 708 contains information about the operatingenvironment of a mobile utility vehicle such as, without limitation, afixed map showing the landscape, structures, tree locations, flowerbedlocations, individual plant locations, and other static objectlocations.

Plant species 710 contains information about the characteristics ofvarious plant species. For example, characteristics of various plantspecies may be, without limitation, trunk, bark, branching system, stemsize, leaf pattern, budding, non-budding, color, growth pattern,preferred sunlight, preferred soil moisture, preferred soil pH, and thelike. Plant varieties 712 contain information about the characteristicsof the different plant varieties or cultivars of the various plantspecies found in plant species 710. For example, characteristics ofdifferent plant varieties or cultivars of the various plant species maybe, without limitation, color, size, growth pattern, budding pattern,preferred sunlight, preferred soil moisture, preferred soil pH, and thelike. A cultivar is a cultivated plant that has been selected and givena unique name because of its decorative or useful characteristics. Acultivar is usually distinct from similar plants and when propagated itretains those characteristics.

In an illustrative embodiment, some examples of various characteristicsof preferred soil moisture may be, without limitation, more water thanaverage rainfall for the year, more water during growth stage, no waterduring dormancy period, well-drained soil, and the like. In anotherillustrative embodiment, some examples of various characteristics ofcolor and size may be, without limitation, green leaves with whitemargins, green leaves with irregular wide light yellow margins,chartreuse to gold leaves with dark green margins, dark blue leaves withyellow shades, large leaves chartreuse to gold, green leaves with widegold centers and white streaks between, and the like.

Water needs 714 contains information about the typical water needsassociated with each plant species and plant variety or cultivar foundin plant species 710 and plant varieties 712, according to the growthstage and life cycle of the plant. Growth stages 716 containsinformation about the typical growth stages, or expected growth stages,associated with each plant species and plant variety found in plantspecies 710 and plant varieties 712. Expected growth stages may be, forexample, the growth height, bloom, flowering, and/or any other suitablegrowth stage indicator used for determining the developmental stage of aparticular plant. Life cycles 718 contains information about the typicallife cycles associated with each plant species and plant variety foundin plant species 710 and plant varieties 712. For example, life cycles718 may indicate whether a particular plant species or variety is anannual or a perennial. Perennials, especially small flowering plants,grow and bloom over the spring and summer die back every autumn andwinter, then return in the spring from their root-stock. Annuals willtypically germinate, flower, and die within one year, unless they areprevented from setting seed. Some seedless plants can also be consideredannuals even though they do not flower. The life cycle of an individualplant varies and depends upon the point in the growing season as well asthe type of plant species and variety.

Object database 720 contains fixed information about objects that may beidentified in an operating environment, which may be used to classifyidentified objects in the environment. This fixed information mayinclude attributes of classified objects, for example, an identifiedobject with attributes of tall, narrow, vertical, and cylindrical, maybe associated with the classification of “tree trunk.” Fixed knowledgebase 702 may contain further fixed operating environment information.Fixed knowledge base 702 may be updated based on information fromlearned knowledge base 706.

Pruning patterns 722 contains information about how to prune aparticular plant variety and/or species. Pruning patterns 722 mayinclude a heading back cut, a thinning out cut, a topping off cut,deadheading, and/or any other suitable pruning method. A heading backcut is a pruning pattern that cuts back to an intermediate point ofgrowth. A thinning out cut is a pruning pattern that cuts back to somepoint of origin, such as removal of an entire shoot, limb, or branch atits point of origin on the plant. A topping off cut is a pruning patternthat involves removing all branches and growths down to a few largebranches or to the trunk of the tree. Deadheading is a pruning patternthat removes spent flowers or flower heads for aesthetics, to prolongbloom for up to several weeks or promote re-bloom, or to preventseeding.

Cultivation methods 724 contains information about how to cultivate aparticular plant variety and/or species. Cultivation methods 724 mayinclude information on how to perform certain tasks, such as, withoutlimitation tilling or working the soil, removing weeds, harvestingplants, and/or any other suitable cultivation task. Different methodsfor tilling or working the soil may include, without limitation, turningthe soil, aerating the soil, and/or any other suitable method of workingthe soil. For example, working the soil may be necessary when the soilbecomes hardened, such as when soil receives moisture and then driesrapidly forming a hardened crust which prevents further moisture frompenetrating the soil to reach the plant roots. Cultivation methods 724may also take into account the root depth of a particular plant whenproviding appropriate methods for a particular plant variety or species.For example, a plant with shallow roots may require a passive tool forworking the soil, such as a hoe, while a plant with a deep root systemmay allow for the use of an active tool for working the soil, such as arotor till.

Different methods for removing weeds may include, without limitation,physical methods, chemical methods, and/or any other suitable method forremoving weeds. For example, physical methods may include ploughing tocut the roots of the weeds or pulling the weeds up from the soil.Chemical methods may include distributing herbicides across the area inwhich weeds are growing. Different methods for harvesting may include,without limitation, reaping, picking, cutting, or otherwise removingmature crops, fruit, vegetables, flowers, and/or any other plant yield.

Winterization methods 726 contains information about how to winterize aparticular plant variety and/or species. Winterization methods 726 mayinclude methods such as, without limitation, pruning old growth, addingorganic matter, blanketing dormant plants for insulation, and/or anyother suitable winterization method. For example, blanketing dormantplants may include using shredded leaves, straw, or other suitableorganic material to cover the plant to a certain depth, such asinsulating a plant with two feet of shredded leaves.

Online knowledge base 704 may be accessed with a communications unit,such as communications unit 420 in FIG. 4, to wirelessly access theInternet. Online knowledge base 704 dynamically provides information toa machine control process which enables adjustment to sensor dataprocessing, site-specific sensor accuracy calculations, and/or exclusionof sensor information. For example, online knowledge base 704 mayinclude current weather conditions of the operating environment from anonline source. In some examples, online knowledge base 704 may be aremotely accessed knowledge base. This weather information may be usedby control software 430 in machine controller 402 in FIG. 4 to determinewhich sensors to activate in order to acquire accurate environmentaldata for the operating environment. Weather, such as rain, snow, fog,and frost may limit the range of certain sensors, and require anadjustment in attributes of other sensors in order to acquire accurateenvironmental data from the operating environment. Other types ofinformation that may be obtained include, without limitation, vegetationinformation, such as foliage deployment, leaf drop status, and lawnmoisture stress.

Learned knowledge base 706 may be a separate component of horticulturalknowledge base 700, or alternatively may be integrated with fixedknowledge base 702 in an illustrative embodiment. Learned knowledge base706 contains knowledge learned as the mobile utility vehicle spends moretime in a specific work area, and may change temporarily or long-termdepending upon interactions with online knowledge base 704 and userinput. Learned knowledge base includes observed plant growth stage 728,visual plant stress data 730, observed actual water use 732, and perplant prescription 734. Observed plant growth stage 728 containsinformation collected by a sensor system, such as sensor system 418 inFIG. 4, detecting the actual plant growth stage of an individual plant,such as individual plants 126, 128, and 130 in FIG. 1. The informationin observed plant growth stage 728 may be compared to the typical plantgrowth stage information located in growth stages 716, and used toadjust the treatment and water application to an individual plant.Visual plant stress data 730 contains information collected by a sensorsystem about an individual plant that is in distress or shows visualsigns of stress. The information in visual plant stress data 730 can beused to adjust the treatment and water application of the individualplant in order to address the plant stress observed.

Observed actual water use 732 contains information collected by a sensorsystem about soil moisture, water retention, and actual amount of waterapplied. Observed actual water use 732 is learned information about theactual water use of an individual plant that can be used by a processingsystem, such as utility function 428 in machine controller 402 in FIG.4, to adjust the amount of water applied in future water useapplications.

Per plant prescription 734 contains information about the amount ofwater and/or other substances that should be applied to each individualplant, such as individual plants 126, 128, and 130 in FIG. 1. Othersubstances may be, for example, without limitation, fertilizer, plantfood, pesticide, and the like. In one illustrative embodiment, per plantprescription 734 is transmitted to a mobile utility vehicle, such asmobile utility vehicle 400 in FIG. 4, either through download module 422or communications unit 420 in FIG. 4. In another illustrativeembodiment, per plant prescription 734 is calculated by a processingsystem, such as machine controller 402 in FIG. 4, using the learned datafrom observed plant growth stage 728, visual plant stress data 730, andobserved actual water use 732, as well as the fixed data from fixedknowledge base 702. A mobile utility vehicle, such as mobile utilityvehicle 400 in FIG. 4, fulfills per plant prescription 734 by movingwithin the operating environment to collect water from a water source,such as water sources 108 in FIG. 1, and apply the water to theplurality of plants, such as plurality of plants 110 in FIG. 1. Perplant prescription 734 may be instructions for applying a specificamount of water and/or other substances to a plurality of plants. Asused herein, per plant refers to one or more individual plants. In theseexamples, per plant prescription 734 may be directed to an individualplant, such as individual plant 126 in FIG. 1, or may be directed to aplurality of plants, such as plurality of plants 110 in FIG. 1.

In another illustrative example, learned knowledge base 706 may detectthe absence of a tree that was present the last time it receivedenvironmental data from the work area. Learned knowledge base 706 maytemporarily change the environmental data associated with the work areato reflect the new absence of a tree, which may later be permanentlychanged upon user input confirming the tree was in fact cut down.Learned knowledge base 706 may learn through supervised or unsupervisedlearning.

The information in horticultural knowledge base 700 may be used toperform classification and plan actions for managing water use.Horticultural knowledge base 700 may be located entirely in a mobileutility vehicle, such as mobile utility vehicle 400 in FIG. 4, or partsor all of horticultural knowledge base 700 may be located in a remotelocation, such as remote location 106 in FIG. 1, which is accessed by amobile utility vehicle.

With reference now to FIG. 8, a block diagram of a per plantprescription is depicted in accordance with an illustrative embodiment.Per plant prescription 800 is an example of one implementation of perplant prescription 734 in FIG. 7.

Per plant prescription 800 contains information about the amount ofwater and/or other substances that should be applied to each individualplant, such as individual plants 126, 128, and 130 in FIG. 1. Per plantprescription 800 may be instructions for applying a specific amount ofwater and/or other substances to a plurality of plants. As used herein,per plant refers to one or more individual plants. In these examples,per plant prescription 800 may be directed to an individual plant, suchas individual plant 126 in FIG. 1, or may be directed to a plurality ofplants, such as plurality of plants 110 in FIG. 1.

As illustrated, per plant prescription 800 includes, for example, plantidentification 802, plant location 804, amount of water 806, and amountof other substances 808. These different components of per plantprescription 800 are used to identify the plant to be watered as well asthe amount of water and other substances to be applied to that plant.

Plant identification 802 includes information identifying the speciesand variety of an individual plant or group of plants. The informationin plant identification 802 is obtained using components of a fixedknowledge base, such as plant species 710 and plant varieties 712 offixed knowledge base 702 in FIG. 7, as well as a sensor system, such assensor system 418 in FIG. 4.

Plant location 804 includes information about the location of a plant orgroup of plants. For example, plant location 804 may contain informationabout the location of an individual plant, such as individual plant 126in FIG. 1, information about the location of a group of plants, such asplurality of plants 110 in FIG. 1, and/or information about the locationof an area with a plurality of plants, such as area 132 in FIG. 1.

Amount of water 806 is the amount of water allotted to a plant or groupof plants after a utility function has calculated the costs, benefits,and constraints associated with watering a group of plants under currentconditions. The utility function may be a software component of amachine controller in a mobile utility vehicle, such as utility function428 of machine controller 402 in mobile utility vehicle 400 in FIG. 4.Alternatively, in another illustrative embodiment, the utility functionmay be a software component in a remote location, such as remotelocation 106 in FIG. 1, where the remote location transmits thecalculated amount of water to a mobile utility vehicle in the form a perplant prescription 800.

Amount of other substances 808 includes information about substancesother than water that may be applied to a plant of(or?) group of plants.Other substances may be, for example, without limitation, fertilizer,plant food, pesticide, and the like.

In one illustrative embodiment, per plant prescription 800 istransmitted to a mobile utility vehicle, such as mobile utility vehicle400 in FIG. 4, either through download module 422 or communications unit420 in FIG. 4. In another illustrative embodiment, per plantprescription 800 is calculated by a processing system, such as utilityfunction 428 in machine controller 402 in FIG. 4, using the learned datafrom observed plant growth stage 728, visual plant stress data 730, andobserved actual water use 732, as well as the fixed data from fixedknowledge base 702 in FIG. 7.

With reference now to FIG. 9, a block diagram of a sensor system isdepicted in accordance with an illustrative embodiment. Sensor system900 is an example of one implementation of sensor system 112 in FIG. 1and sensor system 418 in FIG. 4.

As illustrated, sensor system 900 includes, for example, infrared camera902, visible light camera 904, soil moisture sensor 906, rain sensor908, temperature gauge 910, wind sensor 912, ambient light sensor 914,global positioning system 916, and structured light sensor 918. Thesedifferent sensors may be used to identify the operating environmentaround a mobile utility vehicle. The sensors in sensor system 900 may beselected such that one of the sensors is always capable of sensinginformation needed to operate the mobile utility vehicle in differentoperating environments.

Near-infrared camera 902 may form an image using infrared radiation.Visible light camera 904 may be a standard still-image camera, which maybe used alone for color information or with a second camera to generatestereoscopic, or three-dimensional, images. When visible light camera904 is used along with a second camera to generate stereoscopic images,the two or more cameras may be set with different exposure settings toprovide improved performance over a range of lighting conditions.Visible light camera 904 may also be a video camera that captures andrecords moving images.

The near-infrared images from near-infrared camera 902 and visible lightcamera 904 may be processed using means known in the art to identifyplant species and assess plant health.

Soil moisture sensor 906 detects the current in situ soil moistureinformation from specific portions of the operating environment.

Rain sensor 908 detects precipitation on an exterior surface of themobile utility vehicle. In one embodiment, rain sensor 908 includes aninfrared beam and an infrared sensor. In this illustrative example, rainsensor 908 operates by beaming an infrared light at a 45-degree angleinto a windshield of the mobile utility vehicle from the inside of themobile utility vehicle. If the windshield is wet, less light makes itback to the sensor, indicating the presence of moisture on thewindshield and the likelihood of rain. The illustrative embodiment isnot meant to limit the architecture of rain sensor 908. Other raindetection technologies may be used without departing from the spirit andscope of the invention.

Temperature gauge 910 detects the ambient temperature of the operatingenvironment. Wind sensor 912 detects the wind speed in an operatingenvironment. In an illustrative embodiment, temperature gauge 910 andwind sensor 912 are optional features of sensor system 900. Theinformation detected by temperature gauge 910 and wind sensor 912 mayalternatively be received from an online knowledge base, such as onlineknowledge base 704 in FIG. 7. Ambient light sensor 914 measures theamount of ambient light in the operating environment.

Global positioning system 916 may identify the location of the mobileutility vehicle with respect to other objects in the environment. Globalpositioning system 916 may be any type of radio frequency triangulationscheme based on signal strength and/or time of flight. Examples include,without limitation, the Global Positioning System, Glonass, Galileo, andcell phone tower relative signal strength. Position is typicallyreported as latitude and longitude with an error that depends onfactors, such as ionospheric conditions, satellite constellation, andsignal attenuation from vegetation.

Structured light sensor 918 emits light in a pattern, such as one ormore lines, reads back the reflections of light through a camera, andinterprets the reflections to detect and measure objects in theenvironment.

In an illustrative embodiment, sensor system 900 receives data from soilmoisture sensor 906 identifying the soil moisture of specific portionsof the operating environment. The information about the soil moisture isprocessed by a processor, such as utility function 428 in machinecontroller 402 in FIG. 4, and optionally displayed to an operatorthrough user interface 426 in FIG. 4. In one illustrative example, userinput may be received to adjust a per plant prescription for theindividual plant or plants in the specific portion of the operatingenvironment. The user input is then used by a control system, such ascontrol software 430 in machine controller 402 in FIG. 4, to determinewhich commands to send to the mobile utility vehicle's water applicationsystem.

In another illustrative embodiment, machine controller 402 in FIG. 4receives the soil moisture data from sensor system 900, and interactswith horticultural knowledge base 424 in FIG. 4 in order to determinewhich commands to send to the mobile utility vehicle's water applicationsystem.

With reference now to FIG. 10, a flowchart illustrating a process formanaging water use is depicted in accordance with an illustrativeembodiment. The process in FIG. 10 may be implemented by utilityfunction 428 and control software 430 in machine controller 402 in FIG.4.

The process begins by identifying a plurality of plants (step 1002). Theplurality of plants may be, for example, plurality of plants 110 inFIG. 1. The plurality of plants may contain a number of homogeneous orheterogeneous individual plants, such as individual plants 126, 128, and130 in FIG. 1. As used herein, a number refers to one or more plants.The plurality of plants may be identified using a knowledge base, suchas horticultural knowledge base 700 in FIG. 7. In an illustrativeembodiment, the plants may also be identified via a radio frequencyidentification tag placed in proximity to the plant at the time ofplanting. The radio frequency identification tag may also have the nameof the plant printed for human viewing as is frequently done in gardens.

Next, the process determines water needs for each plant in the pluralityof plants (step 1004). Water needs may be determined using a water needsdatabase, such as water needs 714 of horticultural knowledge base 700 inFIG. 7. The process then identifies current conditions (step 1006).Current conditions may be identified using a knowledge base, such ashorticultural knowledge base 700 in FIG. 7, and/or a sensor system, suchas sensor system 900 in FIG. 9. Current conditions are parametersidentifying the state of the area in which watering is to be performed.Parameters for current conditions may include, for example, withoutlimitation, recent rainfall, current rainfall, expected rainfall, soilmoisture, drought, rain shortage, wind, cloud cover, shade, directsunlight, current temperature, visible plant data, and the like.

The process calculates a per plant prescription (step 1008) for theplurality of plants. The per plant prescription may be instructions forapplying a specific amount of water and/or other substances to aplurality of plants. As used herein, per plant refers to one or moreindividual plants. In these examples, a per plant prescription, such asper plant prescription 734 in FIG. 7, may be directed to an individualplant, such as individual plant 126 in FIG. 1, or may be directed to aplurality of plants, such as plurality of plants 110 in FIG. 1.

Next, the process obtains water from a water source (step 1010), such asfrom one or more of water sources 108 in FIG. 1. The process thenapplies the water to each plant according to the per plant prescription(step 1012), with the process terminating thereafter.

With reference now to FIG. 11, a flowchart illustrating a process fordetermining water needs is depicted in accordance with an illustrativeembodiment. The process in FIG. 11 may be implemented by a softwarecomponent executing on machine controller 402 in FIG. 4 such ashorticultural knowledge base 424 and/or sensor system 418 in FIG. 4.

The process begins by identifying a plant species (step 1102). The plantspecies of an individual plant may be identified using plant species 710of fixed knowledge base 702 within horticultural knowledge base 700 inFIG. 7. Next, the process identifies the plant variety (step 1104). Theplant variety may be identified using plant varieties 712 of fixedknowledge base 702 within horticultural knowledge base 700 in FIG. 7.The individual plant may be identified as part of fixed knowledge base702, or alternatively, may be identified using sensor system 418 in FIG.4 in conjunction with horticultural knowledge base 700 in FIG. 7. Forexample, in one illustrative embodiment, a camera, such as visible lightcamera 904 of sensor system 900 in FIG. 9, may detect characteristics ofan individual plant, such as individual plant 126 in FIG. 1. Thecharacteristics detected may be used in conjunction with the informationin plant species 710 and plant varieties 712 of horticultural knowledgebase 700 in FIG. 7, in order to identify the plant species.

Next, the process determines the growth stage of the individual plant(step 1106). In one illustrative embodiment, the growth stage isdetermined using information from growth stages 716 of horticulturalknowledge base 700 in FIG. 7. In another illustrative embodiment, thegrowth stage of the individual plant is determined using a sensorsystem, such as sensor system 900 in FIG. 9, to detect the observedplant growth stage. In this example, information about the observedplant growth stage is stored in a learned knowledge base, such aslearned knowledge base 706 of horticultural knowledge base 700 in FIG.7, and may later be moved to fixed knowledge base 702 as an update togrowth stages 716.

The process then determines the life cycle of the individual plant (step1108). The life cycle refers to whether the individual plant is anannual or perennial plant, and to the stage of the plant's individualgrowing cycle. Perennials, especially small flowering plants, grow andbloom over the spring and summer die back every autumn and winter, thenreturn in the spring from their root-stock. Annuals will typicallygerminate, flower, and die within one year, unless they are preventedfrom setting seed. Some seedless plants can also be considered annualseven though they do not flower. The life cycle of an individual plantvaries and depends upon the point in the growing season as well as thetype of plant species and variety.

Finally, the process determines the water need for the individual plant(step 1110) based upon the identified plant species and variety, as wellas the determined growth stage and life cycle of the individual plant,with the process terminating thereafter.

With reference now to FIG. 12, a flowchart illustrating a process foridentifying current conditions is depicted in accordance with anillustrative embodiment. The process in FIG. 12 may be implemented byhorticultural knowledge base 424 in machine controller 402 in FIG. 4alone and/or in conjunction with using sensor system 418 in FIG. 4.

The process begins by obtaining weather and solar forecast information(step 1202). Weather and solar forecast information may be obtained byaccessing a database, such as weather and solar forecast 606 in FIG. 6,or by accessing a current weather report using online knowledge base 704in FIG. 7. Next, the process identifies current water rules (step 1204).Current water rules may be obtained by accessing a database, such aswater rules 614 in horticultural task rules 604 of FIG. 6, or byaccessing an online water rules system using online knowledge base 704in FIG. 7.

The process then determines whether the observed plant growth stageparallels the expected plant growth stage (step 1206). The observedplant growth stage may be detected using a sensor system, such as sensorsystem 900 in FIG. 9. The information about the observed plant growthstage may be accessed in real-time with the sensor system, or may bestored in a learned knowledge base, such as learned knowledge base 706in FIG. 7. The information may be compared to a fixed database ofexpected growth stages, such as growth stages 716 in FIG. 7 to determineif the observed growth stage parallels an expected growth stage. If theobserved growth stage differs from the expected growth stage, theprocess adjusts the water need calculation accordingly (step 1208). Forexample, if the plant is a flowering plant that requires more water oncethe plant has bloomed, the expected growth stage indicates that a bloomshould be present at this developmental stage of the particular plant,but the observed growth stage indicates the plant has not yet bloomed,the adjustment may decrease the water need calculation. Once theadjustment has been made, the process moves to step 1210.

If the observed growth stage parallels the expected growth stage, theprocess then determines whether the observed actual water use parallelsthe expected water need (step 1210). The observed actual water use maybe detected using a sensor system, such as sensor system 900 in FIG. 9.The information about the observed actual water use may be accessed inreal-time with the sensor system, or may be stored in a learnedknowledge base, such as learned knowledge base 706 in FIG. 7.

The information may be compared to a fixed database of expected waterneeds, such as water needs 714 in FIG. 7 to determine if the observedactual water use parallels an expected water need of an individualplant. If the observed actual water use differs from the expected waterneed, the process adjusts the water need calculation accordingly (step1212). Once the adjustment has been made, the process moves to step1214.

If the observed actual water use parallels the expected water need, theprocess then detects soil moisture using a sensor system (step 1214),such as sensor system 900 in FIG. 9. Then, the process determineswhether the soil moisture detected parallels the soil moisture model(step 1216). The soil moisture model contains the ideal soil moistureconditions for an individual plant. The soil moisture may be detectedusing a sensor, such as soil moisture sensor 906 in FIG. 9. The soilmoisture data may be compared to a soil moisture model, such as soilmoisture model 608 in FIG. 6 to determine if the soil moisture detectedparallels the soil moisture model for an individual plant.

If the soil moisture detected differs from the soil moisture model, theprocess adjusts the water need calculation accordingly (step 1218). Oncethe adjustment has been made, the process moves to step 1220.

If the soil moisture detected parallels the soil moisture model, theprocess then calculates a per plant prescription (step 1220), with theprocess terminating thereafter.

With reference now to FIG. 13, a flowchart illustrating a process forwatering a plurality of plants is depicted in accordance with anillustrative embodiment. The process in FIG. 13 may be implemented bycontrol software 430 in machine controller 402 in FIG. 4.

The process begins by receiving a request for watering (step 1302). Therequest may be received from an operator, such as a garden administratorfor example, or from a remote location, such as remote location 106 inFIG. 1. The process receives a per plant prescription (step 1304). Theper plant prescription may be received from a knowledge base, such ashorticultural knowledge base 424 in FIG. 4, or from a remote location,such as remote location 106 in FIG. 1. The process then selects a watersource (step 1306) and controls movement of the mobile utility vehicleto the selected water source (step 1308).

Next, the process obtains water from the water source (step 1310). Theprocess controls movement of the mobile utility vehicle to each plant(step 1312) in the plurality of plants, such as plurality of plants 110in FIG. 1. Then, the process measures in situ parameters of each plant(step 1314). In situ parameters include, without limitation, soilmoisture, visible plant stress, actual water use, plant growth stage,and the like. In situ parameters may be measured using a sensor system,such as sensor system 900 in FIG. 9. The process determines whether ornot the per plant prescription is accurate for each plant based on thein situ parameters (step 1316).

For example, in an illustrative embodiment, accuracy may be determinedby comparing the expected growth stage of a plant with the observedgrowth stage of a plant to determine if the current wateringprescription meets the observed current condition of the particularplant. In another illustrative embodiment, accuracy may be determined bycomparing the expected life cycle of a plant with the observed lifecycle of a plant to determine if the current watering prescription meetsthe observed current life cycle of the particular plant. In thisexample, if the expected life cycle is a perennial, a plant that growsand blooms over the spring and summer and is expected to die back everyautumn and winter, but the observed life cycle indicates the plant isdead and the current operating conditions indicate it is summer, thewatering prescription may be inaccurate as the plant is no longer inneed of water based on the observed death of the plant. These examplesare provided merely to illustrate how different determinations may bemade in order to determine an accuracy for a per plant prescription, andare not meant to limit different implementations of the invention in anyway. A number of different implementations may be used in order todetermine whether or not the per plant prescription is accurate for agiven plant.

If the per plant prescription is not accurate for an individual plantbased on the in situ parameters, the process adjusts the per plantprescription accordingly (step 1318) and applies water (step 1320). Ifthe per plant prescription is accurate for an individual plant based onthe in situ parameters, the process goes directly to step 1320. As usedherein, water refers to water and/or other substances that may beapplied to plants. Other substances may be, for example, withoutlimitation, fertilizer, herbicide, insecticide, fungicide, plant food,and the like.

Next, the process determines whether there are more plants in theplurality of plants to be watered (step 1322). If there are more plantsto be watered, the process returns to step 1312. If there are no moreplants to be watered, the process terminates.

With reference now to FIG. 14, a flowchart illustrating a process forselecting a water source is depicted in accordance with an illustrativeembodiment. The process in FIG. 14 may be implemented by controlsoftware 430 in machine controller 402 in FIG. 4.

The process begins by receiving a request for watering (step 1402). Therequest may be received from an operator, such as a garden administratorfor example, or from a remote location, such as remote location 106 inFIG. 1. The process receives a per plant prescription (step 1304). Theper plant prescription may be received from a knowledge base, such ashorticultural knowledge base 424 in FIG. 4, or from a remote location,such as remote location 106 in FIG. 1.

Next, the process identifies a number of water sources associated withthe per plant prescription (step 1406), such as water sources 108 inFIG. 1. In an illustrative embodiment, water sources associated with aper plant prescription may refer to one or more water sources whichcontain the substance or substances required to fulfill the per plantprescription. The process then identifies a preferred water source inthe number of water sources (step 1408). A preferred water source may bedetermined in a number of ways. In one illustrative embodiment, theprocess may check current water regulations to determine if municipalwater sources are accessible or restricted for the time and date forwhich the watering is requested. Municipal water sources may be thepreferred water source, if available, due to lower costs and proximity,for example. If municipal water sources are unavailable, for example dueto water restrictions or shortages, the process may then check waterlevels of other water sources. For example, the process may access watersource level database 612 in FIG. 6 to determine the levels of differentwater sources.

In another illustrative example, the process may check weather and solarforecast 606 in FIG. 6 and determine that recent rainfall may indicaterain barrel 114 in FIG. 1 is likely to be at a high level. Other factorsfor determining a preferred water source may include, withoutlimitation, proximity and forecast, for example.

The process selects the preferred water source (step 1410), with theprocess terminating thereafter. The illustrative process in FIG. 14 isnot meant to imply physical or architectural limitations on the mannerin which different advantageous embodiments may be implemented. Othersteps in addition or in place of the ones illustrated may be used. Somesteps may be unnecessary in some advantageous embodiments. For example,in some advantageous embodiments a preferred water source may bepre-selected.

With reference now to FIG. 15, a flowchart illustrating a process forobtaining water at a water source is depicted in accordance with anillustrative embodiment. The process in FIG. 15 may be implemented bycontrol software 430 in machine controller 402 in FIG. 4.

The process begins by docking a mobile utility vehicle at a water source(step 1502). The process sends identification information to the watersource (step 1504). Then, the process determines whether or notauthentication is received (step 1506) from an authentication system atthe water source. If authentication is not received, the processterminates.

If authentication is received, the process transmits a signal to thewater source filling system to send water (step 1508) to the mobileutility vehicle. The process monitors the water level in the reservoirof the mobile utility vehicle (step 1510). The process then determineswhether the water level in the mobile utility vehicle reservoir hasreached a threshold (step 1512). If the threshold has not been reached,the process returns to step 1510.

If the water level has reached a threshold in the mobile utility vehiclereservoir, the process transmits a signal to the water source fillingsystem to end filling (step 1514). The process then undocks the mobileutility vehicle from the water source (step 1516), with the processterminating thereafter.

With reference now to FIG. 16, a flowchart illustrating a process forreleasing water from a water source is depicted in accordance with anillustrative embodiment. The process in FIG. 16 may be implemented bywater release system 502 in FIG. 5.

The process begins by receiving identification information from a mobileutility vehicle (step 1602), such as mobile utility vehicle 400 in FIG.4. The process determines whether the mobile utility vehicle isauthorized for the water source (step 1604), such as water source 500 inFIG. 5 for example. If the mobile utility vehicle is not authorized forthe water source, the process terminates.

If the mobile utility vehicle is authorized for the water source, theprocess sends authentication to the mobile utility vehicle (step 1606).The process then receives a signal from the mobile utility vehicle tosend water to the mobile utility vehicle reservoir (step 1608). Theprocess activates a filling system (step 1610) of the water source, suchas filling system 512 in FIG. 5. The process then receives a signal toend filling (step 1612). The process stops the filling system (step1614), with the process terminating thereafter.

The flowcharts and block diagrams in the different depicted embodimentsillustrate the architecture, functionality, and operation of somepossible implementations of apparatus, methods and computer programproducts. In this regard, each block in the flowchart or block diagramsmay represent a module, segment, or portion of computer usable orreadable program code, which comprises one or more executableinstructions for implementing the specified function or functions. Insome alternative implementations, the function or functions noted in theblock may occur out of the order noted in the figures. For example, insome cases, two blocks shown in succession may be executed substantiallyconcurrently, or the blocks may sometimes be executed in the reverseorder, depending upon the functionality involved.

The illustrative embodiments recognize a need for managing resourcedelivery to plants according to per plant prescriptions for individualplants and current conditions. In particular, the illustrativeembodiments recognize a need for a water delivery system that can obtainwater, adjust watering prescriptions according to current conditions,and apply water without human intervention.

The illustrative embodiments recognize that current methods for waterapplication operate in an environment where there is one predominantspecies of plant, such as a single crop grown in a somewhat uniformenvironment. The illustrative embodiments recognize that current systemsdetermine amounts of water to apply based on a single species of plantand assume adequate water will be available during the selected wateringseason.

The illustrative embodiments further recognize that yards and gardensmay have multiple plant species with different watering needs in thesame or proximate location. Water restrictions may be in place duringcertain seasons, such as during times of drought, and there may not beenough water available to supply every plant with the required amount ofwater for survival. The illustrative embodiments recognize thatresidential water is often more expensive than agricultural irrigationbecause of treatment costs and distribution infrastructure costs.Gardeners may choose to use water from sources other than municipalwater, such as rain barrels or grey water.

Therefore, the illustrative embodiments provide a computer implementedmethod and system for providing an application of a resource to plants.A plurality of per plant prescriptions for a plurality of plants arereceived and a source is selected to fulfill the plurality of per plantprescriptions to form a selected source. Movement of a mobile utilityvehicle is controlled to the selected source, the resource is obtained,and movement of the mobile utility vehicle is controlled to each plantin the plurality of plants. The resource is applied from the mobileutility vehicle to each plant according to the per plant prescription.

The description of the different advantageous embodiments has beenpresented for purposes of illustration and description, and is notintended to be exhaustive or limited to the embodiments in the formdisclosed. Many modifications and variations will be apparent to thoseof ordinary skill in the art. Further, different embodiments may providedifferent advantages as compared to other embodiments. The embodiment orembodiments selected are chosen and described in order to best explainthe principles of the invention, the practical application, and toenable others of ordinary skill in the art to understand the inventionfor various embodiments with various modifications as are suited to theparticular use contemplated.

1. A method for providing an application of a resource to plants, themethod comprising: receiving a plurality of per plant prescriptions fora plurality of plants; responsive to receiving the plurality of perplant prescriptions, selecting a source to fulfill the plurality of perplant prescriptions to form a selected source; controlling movement of amobile utility vehicle to the selected source; obtaining the resourcefrom the selected source; responsive to obtaining the resource,controlling movement of the mobile utility vehicle to each plant in theplurality of plants; and applying the resource from the mobile utilityvehicle to the each plant in the plurality of plants according to theper plant prescription.
 2. The method of claim 1, further comprising:measuring in situ parameters of the each plant in the plurality ofplants using a sensor system; determining whether a per plantprescription in the plurality of per plant prescriptions is accurate forthe each plant in the plurality of plants; and responsive to thedetermination that the per plant prescription is accurate, applying theresource from the mobile utility vehicle to the each plant in theplurality of plants according to the per plant prescription.
 3. Themethod of claim 2, further comprising: responsive to the determinationthat the per plant prescription is inaccurate, adjusting the per plantprescription to form an adjusted per plant prescription; and applyingthe resource from the mobile utility vehicle to the each plant in theplurality of plants according to the adjusted per plant prescription. 4.The method of claim 1, wherein selecting the source further comprises:identifying a number of sources associated with the plurality of perplant prescriptions; identifying a preferred source in the number ofsources associated with the plurality of per plant prescriptions; andselecting the preferred source.
 5. The method of claim 4, wherein thenumber of sources associated with the plurality of per plantprescriptions comprises at least one source comprising a number ofresources required to fulfill the plurality of per plant prescriptions.6. The method of claim 4, wherein the number of sources comprise anumber of resources required to fulfill the plurality of per plantprescriptions, and wherein the number of resources comprise at least oneof water, fertilizer, herbicide, insecticide, fungicide, nutrients, andplant food.
 7. The method of claim 1, wherein selecting the sourcefurther comprises at least one of: determining current resource rules;determining current resource levels of a number of resource sources;determining a resource source with the most proximity to the mobileutility vehicle; and determining the resource source currently availableto the mobile utility vehicle.
 8. The method of claim 7, wherein thecurrent resource rules include water rules, and wherein the water rulesinclude at least one of an amount of water currently accessible, localwater shortage information, and local water restriction information. 9.The method of claim 1, wherein obtaining the resource from the sourceselected further comprises: authenticating the mobile utility vehiclewith the source selected; sending a signal to the source selected tosend the resource to the mobile utility vehicle; monitoring a resourcelevel in a reservoir of the mobile utility vehicle; and sending a signalto the source selected to stop sending the resource to the mobileutility vehicle.
 10. The method of claim 9, authenticating the mobileutility vehicle with the source selected further comprises: sendingidentification information to the source selected; and receivingauthentication from the source selected.
 11. A system for applying anapplication of a resource to plants, the system comprising: a machinecontroller capable of controlling at least one mobile utility vehiclefor executing a plurality of per plant prescriptions for a plurality ofplants; an acquisition system capable of obtaining a resource from anumber of sources to fulfill the plurality of per plant prescriptions; astorage system comprising a reservoir for storing the resource obtained;and an application system capable of applying the resource obtained tothe plurality of plants.
 12. The system of claim 11, further comprising:a sensor system capable of identifying information about the pluralityof plants.
 13. The system of claim 12, wherein the information about theplurality of plants comprises at least one of soil moisture,precipitation, temperature, wind, ambient light, observed growth stage,plant health, and observed actual water use.
 14. The system of claim 11,further comprising: a pumping system capable of obtaining and applyingthe resource.
 15. The system of claim 10, further comprising: a valvesystem capable of obtaining and applying the resource.
 16. The system ofclaim 10, wherein the resource comprises at least one of water,fertilizer, herbicide, insecticide, fungicide, nutrients, and plantfood.
 17. The system of claim 16, further comprising: an agitatorcapable of mixing a number of resources obtained by the acquisitionsystem.
 18. The system of claim 11, further comprising: a communicationdevice capable of receiving input from a number of sensors.